Haptic shape perception from force and position signals varies with exploratory movement direction and the exploring finger

Lift speed moderates the effects of muscle activity on perceived heaviness

Research has shown that perceived heaviness is a function of the ratio of muscle activity (measured by electromyogram [EMG]) to the resulting acceleration of the object. However, objects will commonly be lifted at different speeds, implying variation in both EMG and acceleration. This study examined the effects of lifting speed by having participants report perceived heaviness for objects lifted by elbow flexion at three different speeds: slow, preferred, and fast. EMG and angular acceleration were recorded during these lifts. Both EMG and angular acceleration changed across lift speed. Nevertheless, despite these variations, perceived heaviness consistently scaled to the ratio of EMG to angular acceleration. The exponents on these parameters suggested that the saliency of muscle activity and movement changed across the three lift speeds.

Pressing movements and perceived force and displacement are influenced by object stiffness

Despite many previous studies on stiffness perception, few have investigated the exploratory procedures involved. This study evaluated whether stiffness range influences pressing movements and perception of force and displacement during stiffness discrimination tasks. Force and displacement data were obtained from 30 participants. Peak values of force and displacement, pressing duration and number of presses were analyzed. Two kinds of subjective evaluations were also recorded: perceived difference in force/displacement used to discriminate between specimens, and perceived effort. Although the number of presses and pressing duration were constant across a wide stiffness range, pressing strength was adjusted for the stiffness of objects, with harder specimens pressed more strongly. Further, even if the stiffnesses of two compared specimens were different, the pressing forces applied to the specimens approached the same magnitude at a higher stiffness range. Differences in force were most easily perceived at lower stiffness ranges, while displacement differences were perceived more readily at higher stiffness ranges. These results were consistent with those of previous studies. Finally, the reasons why stiffness range influenced pressing movements and perceived differences in force/displacement are discussed.

Multiple Fingers - One Gestalt

The Gestalt theory of perception offered principles by which distributed visual sensations are combined into a structured experience ("Gestalt"). We demonstrate conditions whereby haptic sensations at two fingertips are integrated in the perception of a single object. When virtual bumps were presented simultaneously to the right hand's thumb and index finger during lateral arm movements, participants reported perceiving a single bump. A discrimination task measured the bump's perceived location and perceptual reliability (assessed by differential thresholds) for four finger configurations, which varied in their adherence to the Gestalt principles of proximity (small versus large finger separation) and synchrony (virtual spring to link movements of the two fingers versus no spring). According to models of integration, reliability should increase with the degree to which multi-finger cues integrate into a unified percept. Differential thresholds were smaller in the virtual-spring condition (synchrony) than when fingers were unlinked. Additionally, in the condition with reduced synchrony, greater proximity led to lower differential thresholds. Thus, with greater adherence to Gestalt principles, thresholds approached values predicted for optimal integration. We conclude that the Gestalt principles of synchrony and proximity apply to haptic perception of surface properties and that these principles can interact to promote multi-finger integration.

Parallel processing of shape and texture in haptic search

In a haptic search task, one has to determine the presence of a target among distractors. It has been shown that if the target differs from the distractors in two properties, shape and texture, performance is better than in both single-property conditions (Van Polanen, Bergmann Tiest, & Kappers, 2013). The search for a smooth sphere among rough cubical distractors was faster than both the searches for a rough sphere (shape information only) and for a smooth cube (texture information only). This effect was replicated in this study as a baseline. The main focus here was to further investigate the nature of this integration. It was shown that performance is better when the two properties are combined in a single target (smooth sphere), than when located in two separate targets (rough sphere and smooth cube) that are simultaneously present. A race model that assumes independent parallel processing of the two properties could explain the enhanced performance with two properties, but this could only take place effectively when the two properties were located in a single target.

A finger-shaped tactile sensor for fabric surfaces evaluation by 2-dimensional active sliding touch

Sliding tactile perception is a basic function for human beings to determine the mechanical properties of object surfaces and recognize materials. Imitating this process, this paper proposes a novel finger-shaped tactile sensor based on a thin piezoelectric polyvinylidene fluoride (PVDF) film for surface texture measurement. A parallelogram mechanism is designed to ensure that the sensor applies a constant contact force perpendicular to the object surface, and a 2-dimensional movable mechanical structure is utilized to generate the relative motion at a certain speed between the sensor and the object surface. By controlling the 2-dimensional motion of the finger-shaped sensor along the object surface, small height/depth variation of surface texture changes the output charge of PVDF film then surface texture can be measured. In this paper, the finger-shaped tactile sensor is used to evaluate and classify five different kinds of linen. Fast Fourier Transformation (FFT) is utilized to get original attribute data of surface in the frequency domain, and principal component analysis (PCA) is used to compress the attribute data and extract feature information. Finally, low dimensional features are classified by Support Vector Machine (SVM). The experimental results show that this finger-shaped tactile sensor is effective and high accurate for discriminating the five textures.

Integration and disruption effects of shape and texture in haptic search

In a search task, where one has to search for the presence of a target among distractors, the target is sometimes easily found, whereas in other searches it is much harder to find. The performance in a search task is influenced by the identity of the target, the identity of the distractors and the differences between the two. In this study, these factors were manipulated by varying the target and distractors in shape (cube or sphere) and roughness (rough or smooth) in a haptic search task. Participants had to grasp a bundle of items and determine as fast as possible whether a predefined target was present or not. It was found that roughness and edges were relatively salient features and the search for the presence of these features was faster than for their absence. If the task was easy, the addition of these features could also disrupt performance, even if they were irrelevant for the search task. Another important finding was that the search for a target that differed in two properties from the distractors was faster than a task with only a single property difference, although this was only found if the two target properties were non-salient. This means that shape and texture can be effectively integrated. Finally, it was found that edges are more beneficial to a search task than disrupting, whereas for roughness this was the other way round.

Haptic distal spatial perception mediated by strings: size at a distance and egocentric localization based on ellipse geometry

Participants explored ellipse perimeters defined by fixed-length strings, held taut by their moving finger, with ends attached to two fixed hooks (foci). Participants haptically judged ellipse interfocal distance (IFD; in effect, exocentric separation, or size at a distance) or location of ellipse major axes (i.e., egocentric localization relative to the moving finger). In Experiment 1A, perceivers made reliable and accurate multialternative forced choice IFD judgments. Experiment 1B showed similar reliability for direct estimations but showed greater scaling error. In Experiment 2, perceivers reliably localized ellipse major axes. Both experiments derived from a priori geometrical analysis, consistent with the Gibsonian perceptual research program and previous string-mediated haptic distal spatial studies. Results are discussed with respect to haptic perception as a telemodality and to dynamic touch.

After experience with the task humans actively optimize shape discrimination in touch by utilizing effects of exploratory movement direction

The active control of exploratory movements is an integral part of active touch. We investigated and manipulated the relationship between the haptic discrimination performance for small bumps and the direction of exploratory movements relative to the body. Shape discrimination performance varied with the direction of stimulus exploration. Experimental manipulations successfully changed the normative relation between exploratory direction and discrimination performance. If participants were rewarded for "good perceptual performance" and had the choice, they displayed clear strategic preferences for exploratory directions that yield optimal performance-but only after having extensive experience with the changed perceptual conditions. Overall, the findings suggest that participants can actively adapt their exploratory movements in order to optimize haptic discrimination performance.

Exploratory Movements Determine Cue Weighting in Haptic Length Perception of Handheld Rods

In the present study, we sought to unravel how exploratory movements affect length perception of rods that are held in and wielded by hand. We manipulated the mechanical rod properties—mass ( m), first moment of mass distribution (M), major principal moment of inertia ( I1)—individually, allowing us to assess the relative contribution of each of these mechanical variables to the perceptual judgment. Furthermore we developed a method to quantify the force components of the mechanical variables in the total of forces acting at the hand-rod interface, and we calculated each component's relative contribution. The laws of mechanics dictate that these relative force contributions depend on the characteristics of the exploratory movements performed. We found a clear relationship between the relative force contribution of the mechanical variables and their contribution to perceived rod length. This finding is the first quantitative demonstration that exploration style determines how much each mechanical variable influences length perception. Moreover, this finding suggested a cue weighting mechanism in which exploratory movements determine cue reliability (and thus cue weighting). We developed a cue combination model for which we first identified three length cues in the form of ratios between the mechanical variables. Second, we calculated the weights of these cues from the recorded rod movements. The model provided a remarkably good prediction of the experimental data. This strongly suggests that rod length perception by wielding is achieved through a weighted combination of three specific length cues, whereby the weighting depends on the characteristics of the exploratory movements.